Reference Manual

PMAC 2 Software Reference
398 PMAC I/0 and Memory Map
Y:$0001
Real time interrupt period minus one (I8)
X:$0002 (2)
Data gathering counter (time)
Y:$0002
Data gathering period (I19)
X:$0003 (3)
Global servo status bits
(First word returned on ??? command. See ??? in the On-Line Commands section)
0 This Card Addressed Serially
1 All Cards Addressed Serially
2-3 (Reserved for future use)
4 MACRO Ring Failure Error
5 MACRO Auxiliary Communications Error
6 TWS Variable Parity Error
7-9 (For internal use)
10 EAROM Error
11 DPRAM Error
12 PROM Checksum Error
13 Any Memory Checksum Error
14 Compensation On
15 PMAC2 Servo-Channel ADC Autocopy Disabled
16 (Reserved for future use)
17 Prepared to gather on trigger
18 Prepared to gather next servo
19 Data gathering function on
20 Servo Error
21 Servo Active
22 Real Time Interrupt Re-entry
23 Real Time Interrupt Active
Y:$0003
Global status bits
(Second word returned on ??? command
)
0-7 (Reserved for future use)
8-10 (Internal use)
11 Fixed Buffer Full
12-14 (Internal use)
15 VME Communications Mode
16 PLC Command
17 PLC Buffer Open
18 Rotary Buffer Open
19 Motion Program Buffer Open
20-21 (Internal use)
22 Host communication mode
23 (Internal use)
D:$0004-
$0007
Temporary calculation registers
X:$0008 (8)
Last real-time interrupt execution time (servo cycles)
Y:$0008
Longest real-time interrupt execution time (servo
cycles)
D:$0009-
$001E
Temporary calculation registers
Y:$001F (31)
Minimum watchdog timer value, last background cycle